研究了未知环境下救援机器人的路径规划问题,提出了一种新的基于传感器的路径规划方法。该方法所规划出来的路径是全局指导下的局部最优路径,传感器的探测距离越远,规划的结果越接近全局最优解。仿真分析证明了该方法是可行的,并且规划时间短,具有较好的实时性和环境适应性。 The problem of path planning for rescue robots in unknown environment is studied and a new path-based path planning method is proposed. The path planned by this method is the local optimal path under the global guidance. The farther the detection distance of the sensor is, the closer the planning result is to the global optimal solution. Simulation analysis proves that the method is feasible, and the planning time is short, with good real-time and environmental adaptability.